Apparatus and method for complementing automotive radar

ABSTRACT

The present disclosure provides an apparatus for complementing automotive radar, which comprises a camera for obtaining an image of a field of view, a radar sensor for transmitting a radar signal and detecting a radar signal reflected by an object, and a controller for obtaining first information on a target from the image, setting a monitoring range of the radar sensor according to the obtained first information, obtaining second information on the target based on a radar signal detected in the monitoring range, and detecting malfunction of the radar by determining whether or not the first information matches the second information, and further provides a method thereof. According to the present disclosure, it is possible to quickly detect malfunction of the radar sensor.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority from Korean Patent Application No.10-2018-0120199, filed on Oct. 10, 2018, which is hereby incorporated byreference for all purposes as if fully set forth herein.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present disclosure relates to an apparatus and a method forcomplementing automotive radar, which complement the operation ofautomotive radar using a camera.

2. Description of the Prior Art

Recently, various devices for assisting a driver in driving a vehicle orfor autonomous driving have been commercialized or developed. With thistrend, radar provided in a vehicle is used for sensing objects aroundthe vehicle and providing information, thereby assisting in the drivingof the vehicle.

When foreign matter or objects exists close to the automotive radar, atransmission antenna or a reception antenna of the radar may be blocked.The blockage of the radar may cause deterioration of the operation ofthe automotive radar or malfunction of the automotive radar. Inaddition, if the radar is misaligned, the automotive radar may notoperate properly. As a result, the accuracy and reliability of the radarmay be degraded.

Therefore, there is growing need for a technique for quickly detectingmalfunction such as blockage or misalignment of the radar.

SUMMARY OF THE INVENTION

In view of the foregoing background, an aspect of the present disclosureis to provide an apparatus and a method for complementing automotiveradar, which can more quickly and accurately detect whether or not radaris blocked using error information calculated by comparing targetinformation based on an image obtained by a camera with targetinformation based on a radar signal.

Another aspect of the present disclosure is to provide an apparatus anda method for complementing automotive radar, which can more quickly andaccurately detect whether or not the radar is misaligned using errorinformation calculated by comparing target information based on an imageobtained by a camera with target information based on a radar signal.

According to one aspect, the present disclosure provides an apparatusfor complementing automotive radar, which includes: an image sensoroperable to be disposed in a vehicle so as to have a field of view ofthe exterior of the vehicle, the image sensor configured to captureimage data; a radar sensor operable to be disposed in the vehicle so asto have a field of sensing for the exterior of the vehicle, the radarsensor configured to capture sensing data; at least one processorconfigured to process the image data captured by the image sensor andthe sensing data captured by the radar sensor; and a controllerconfigured to detect a malfunction of the radar sensor, based at leastin part on the processing of the image data and the sensing data,wherein the controller is configured to: obtain first information on atarget from an image obtained based on the processing of the image data;set a monitoring range of the radar sensor according to the obtainedfirst information; obtain second information on the target based on aradar signal detected in the monitoring range; and detect malfunction ofthe radar sensor by determining whether or not the first informationmatches the second information.

According to another aspect, the present disclosure provides anapparatus for complementing automotive radar, which includes: an imagesensor operable to be disposed in a vehicle so as to have a field ofview of the exterior of the vehicle, the image sensor configured tocapture image data; a radar sensor operable to be disposed in thevehicle so as to have a field of sensing for the exterior of thevehicle, the radar sensor configured to capture sensing data; and adomain control unit configured to process the image data captured by theimage sensor and the sensing data captured by the radar sensor, andconfigured to control at least one driver assistance system provided inthe vehicle, wherein the domain control unit is configured to: based atleast in part on the processing of the image data and the sensing data,obtain first information on a target from an image obtained based on theprocessing of the image data; set a monitoring range of the radar sensoraccording to the obtained first information; obtain second informationon the target based on a radar signal detected in the monitoring range;and detect malfunction of the radar sensor by determining whether or notthe first information matches the second information.

According to another aspect, the present disclosure provides an imagesensor operable to be disposed in the vehicle so as to have a field ofview of the exterior of the vehicle, the image sensor configured tocapture image data, wherein the image data is processed by a processorand is used to obtain first information on a target and is used to set amonitoring range of a radar sensor according to the obtained firstinformation, and wherein monitoring range information is used to obtainsecond information on the target based on a radar signal detected in themonitoring range and is used to detect malfunction of the radar sensorby determining whether or not the first information matches the secondinformation.

According to another aspect, the present disclosure provides a methodfor complementing automotive radar, which includes: obtaining an imageof a field of view through a camera to obtain first information on atarget; setting a monitoring range of a radar sensor according to thefirst information; obtaining second information on the target based on aradar signal detected in the monitoring range; and detecting malfunctionof the radar sensor by determining whether or not the first informationmatches the second information.

As described above, according to the present disclosure, it is possibleto provide an apparatus and a method for complementing automotive radar,which can more quickly and accurately detect whether or not the radar isblocked using error information calculated by comparing targetinformation based on an image obtained by a camera with targetinformation based on a radar signal.

In addition, according to the present disclosure, it is possible toprovide an apparatus and a method for complementing automotive radar,which can more quickly and accurately detect whether or not the radar ismisaligned using error information calculated by comparing targetinformation based on an image obtained by a camera with targetinformation based on a radar signal.

BRIEF DESCRIPTION OF THE DRAWINGS

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The above and other aspects, features, and advantages of the presentdisclosure will be more apparent from the following detailed descriptiontaken in conjunction with the accompanying drawings, in which:

FIG. 1 is a block diagram of an apparatus for complementing automotiveradar according to an embodiment of the present disclosure;

FIGS. 2 to 4 are views explaining detection of malfunction of a radarsensor using a target sensed by a camera and a radar sensor according tothe present disclosure;

FIG. 5 is a block diagram of an apparatus for complementing automotiveradar according to an embodiment of the present disclosure;

FIG. 6 is a flowchart of a method for complementing automotive radaraccording to the present disclosure;

FIG. 7 is a flowchart explaining a method for detecting blockage of aradar sensor according to the present disclosure;

FIG. 8 is a flowchart explaining a method for detecting misalignment ofa radar sensor according to the present disclosure; and

FIG. 9 is a flowchart explaining a method of outputting an alarmindicating malfunction of a radar sensor according to the presentdisclosure.

DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS

Hereinafter, embodiments of the present disclosure will be described indetail with reference to the accompanying drawings. In designatingelements of the drawings by reference numerals, the same elements willbe designated by the same reference numerals although they are shown indifferent drawings. Further, in the following description of the presentdisclosure, a detailed description of known functions and configurationsincorporated herein will be omitted when it may make the subject matterof the present disclosure rather unclear.

In addition, terms, such as first, second, A, B, (a), (b) or the likemay be used herein when describing components of the present disclosure.These terms are merely used to distinguish one structural element fromother structural elements, and a property, an order, a sequence and thelike of a corresponding structural element are not limited by the term.It should be noted that if it is described in the specification that onecomponent is “connected,” “coupled” or “joined” to another component, athird component may be “connected,” “coupled,” and “joined” between thefirst and second components, although the first component may bedirectly connected, coupled or joined to the second component.

Unless defined otherwise, all terms as used herein (including technicalterms and scientific terms) have the same meaning as commonly understoodby a person of ordinary skill in the art to which the present disclosurepertains. Such terms as those defined in a generally used dictionary arenot to be interpreted to have ideal or excessively meanings unlessclearly defined in the present disclosure. The terms as described beloware defined in consideration of the functions of the present disclosure,but the meaning of the terms may be changed according to a user,intention of an operator, or convention. Therefore, the definitions ofthe terms should be made based on the contents throughout thespecification.

In the present disclosure, the term “blockage of a radar sensor” refersto various states in which a certain object is in close proximity to aradar sensor provided in a vehicle, or in which a radar sensor iscovered with foreign matter, such as snow, so that transmission ordetection of a radar signal is disturbed. In addition, the term “target”may mean any one of preceding vehicles in front of the running vehicle,and, in some cases, may mean a pedestrian, a bicycle, or a motorcycle.

Hereinafter, an apparatus and a method for complementing automotiveradar according to embodiments of the present disclosure will bedescribed with reference to the accompanying drawings.

FIG. 1 is a block diagram of an apparatus for complementing automotiveradar according to an embodiment of the present disclosure.

Referring to FIG. 1, an apparatus 100 for complementing automotive radaraccording to the present disclosure includes a camera 110 for obtainingan image of a field of view, a radar sensor 120 for transmitting a radarsignal and detecting a radar signal reflected by an object, and acontroller 130 for obtaining first information on a target from theimage, setting a monitoring range of the radar according to the obtainedfirst information, obtaining second information on the target based on aradar signal detected in the monitoring range, and detecting malfunctionof the radar sensor by determining whether or not the first informationmatches the second information.

According to an example, the camera 110 may include an image sensordisposed in the vehicle so as to have a field of view of the exterior ofthe vehicle and configured to capture image data, and a processorconfigured to process the image data captured by the image sensor.According to an example, the image sensor and the processor may beimplemented as a single module.

The image sensor may be disposed in the vehicle so as to have a field ofview of the exterior of the autonomous vehicle. One or more imagesensors may be mounted on the respective parts of the vehicle so as tohave a field of view of the front, side, or rear of the vehicle.

Since the image information captured by the image sensor includes imagedata, it may mean image data captured by the image sensor. Hereinafter,the image information captured by the image sensor means image datacaptured by the image sensor in the present disclosure. The image datacaptured by the image sensor may be created in a format of, for example,AVI, MPEG-4, H.264, DivX, or JPEG in a raw form. The image data capturedby the image sensor may be processed by the processor.

In addition, the image sensor may be configured to be disposed in avehicle so as to have a field of view of the exterior of the vehicle,thereby capturing image data. The image data captured by the imagesensor may be processed by the processor to then be used to obtain firstinformation on the target, thereby setting a monitoring range of theradar sensor according to the obtained first information. Monitoringrange information may be used to obtain second information on the targetbased on a radar signal detected in the monitoring range and to detectmalfunction of the radar by determining whether or not the firstinformation matches the second information.

The processor may operate so as to process the image data captured bythe image sensor. For example, at least some of the operation forsetting the monitoring range of the radar may be performed by theprocessor.

The processor may be implemented using at least one of electronic units,which can perform processing of image data and other functions, such asapplication-specific integrated circuits (ASICs), digital signalprocessors (DSPs), digital signal processing devices (DSPDs),programmable logic devices (PLDs), field-programmable gate arrays(FPGAs), processors, controllers, microcontrollers, microprocessors, andthe like.

The camera 110 may be mounted on the front of the vehicle, and mayobtain an image of a field of view in front of the vehicle in frameunits. According to an example, the camera 110 may be implemented as aCMOS camera or a CCD camera. However, this is an example only, and thecamera 110 is not limited to any specific type, as long as it can obtainan image of a forward field of view.

The radar sensor 120 may transmit a radar signal, may detect thetransmitted radar signal reflected by an object, and may provideinformation, such as a distance to the object around the vehicle, inframe units. The radar sensor 120 may include a transmission antenna fortransmitting a radar signal and a reception antenna for detecting areflected radar signal.

The radar sensor 120 used in the present disclosure may include one ormore radar sensors, such as a front radar sensor mounted on the front ofthe vehicle, a rear radar sensor mounted on the rear of the vehicle, anda side or a side & rear radar sensor mounted on each side of thevehicle. The radar sensor or radar system may analyze transmission andreception signals to process data, thereby detecting information on theobject, and may include an electronic control unit (ECU) or a processorfor the same. Data transmission from the radar sensor to the ECU orsignal communication therebetween may be performed using an appropriatecommunication link such as a vehicle network bus or the like.

The radar sensor may include one or more transmission antennas fortransmitting radar signals and one or more reception antennas forreceiving signals reflected by objects.

Meanwhile, the radar sensor according to the present embodiment mayemploy a multi-dimensional antenna array and a multiple-inputmultiple-output (MIMO) signal transmission/reception scheme in order toform a virtual antenna aperture greater than an actual antenna aperture.

For example, a two-dimensional antenna array is used to attainhorizontal and vertical angular precision and resolution. Using thetwo-dimensional radar antenna array, signals may be transmitted andreceived by two individual horizontal and vertical scans (multiplexed intime), and MIMO may be used separately from the two-dimensionalhorizontal and vertical radar scans (time-multiplexing).

More specifically, the radar sensor according to the present embodimentmay employ a two-dimensional antenna array configuration, which includesa transmission antenna unit including a total of twelve transmissionantennas (Tx) and a reception antenna unit including sixteen receptionantennas (Rx). As a result, the radar sensor may have a total of 192virtual reception antenna arrangements.

In this case, the transmission antenna unit may have three transmissionantenna groups, each including four transmission antennas, wherein thefirst transmission antenna group may be spaced a predetermined distanceapart from the second transmission antenna group in the verticaldirection and the first or second transmission antenna group may bespaced a predetermined distance (D) apart from the third transmissionantenna group in the horizontal direction.

In addition, the reception antenna unit may include four receptionantenna groups, each including four reception antennas, wherein therespective reception antenna groups may be arranged to be spaced apartfrom each other in the vertical direction, and the reception antennaunit may be disposed between the first transmission antenna group andthe third transmission antenna group, which are spaced apart from eachother in the horizontal direction.

In another embodiment, the antennas of the radar sensors may be arrangedin a two-dimensional antenna array. For example, each antenna patch hasa rhombus lattice arrangement, thereby reducing unnecessary side lobes.

Alternatively, the two-dimensional antenna array may include a V-shapedantenna array in which a plurality of radiation patches are arranged ina V shape, and, more specifically, may include two V-shaped antennaarrays. In this case, a single feed is provided to the apex of eachV-shaped antenna array.

Alternatively, the two-dimensional antenna array may include an X-shapedantenna array in which a plurality of radiation patches are arranged inan X shape, and, more specifically, may include two X-shaped antennaarrays. In this case, a single feed is provided to the center of eachX-shaped antenna array.

In addition, the radar sensor according to the present embodiment mayuse a MIMO antenna system in order to realize detection accuracy orresolution in the vertical and horizontal directions.

More specifically, respective transmission antennas in a MIMO system maytransmit signals having independent and distinct waveforms. That is,each transmission antenna may transmit a signal in an independentwaveform different from those of other transmission antennas, andrespective reception antennas may determine the transmission antennathat transmitted the signal reflected by the object because the signalshave different waveforms.

In addition, the radar sensor according to the present embodiment may beconfigured to include a radar housing that accommodates a substrate anda circuit including the transmission/reception antenna, and a radomethat constitutes the appearance of a radar housing. In this case, theradome may be made of a material capable of reducing attenuation of thetransmitted and received radar signals, and the radome may be configuredas front and rear bumpers of the vehicle, a grill thereof, or the outersurface of a side vehicle frame or a vehicle component.

That is, the radome of the radar sensor may be disposed inside thevehicle grille, the bumper, the vehicle frame, or the like, or may bedisposed as a part of components constituting the outer surface of thevehicle, such as a part of the vehicle grille, the bumper, or thevehicle frame, thereby providing convenience of mounting the radarsensor and a good appearance.

In the present disclosure, the radar sensor is not limited to anyspecific radar sensor, and the embodiments of the present disclosure canbe substantially and identically applied to any radar sensor, exceptwhere not applicable.

The controller 130 may control the overall operation of the apparatus100 for complementing automotive radar. According to an example, thecontroller 110 may be implemented as an electronic control unit (ECU).The controller 130 is configured to receive processing results of theimage data and the sensing data from the processor, and is configured toprocess the image data and the sensing data. The controller 130 maydetect malfunction of the radar sensor based at least in part on theprocessing of the image data and the sensing data.

The controller 130, based on the image of a field of view obtainedthrough the camera 110, may set a preceding vehicle as a target. If theobtained image contains a plurality of preceding vehicles, a target maybe set according to a predetermined condition. For example, thepreceding vehicle closest in distance to the vehicle may be set as thetarget. However, the present disclosure is not limited to theabove-mentioned configuration, which is only an example, and the settingcondition of the target may vary as necessary.

The controller 130 may obtain first information on the target throughimage processing of the obtained image. According to an example, thefirst information may include information on the distance to the target,the speed of the target, the angle of the target based on the travelingpath of the vehicle, or the holding time of the target. The imageprocessing method is not limited to any specific method, as long as thefirst information can be acquired from the image obtained through thecamera 110.

According to the first information obtained with respect to the target,the controller 130 may set a monitoring range for detecting a target ina field of sensing of the radar sensor 120. To this end, the controller130 may match position information of the target in the image withposition information in the field of sensing of the radar sensor. Thecontroller 130 may set a monitoring range according to the positioninformation on the target in the field of sensing of the radar sensor.

The controller 130 may process the radar signal detected in the setmonitoring range, thereby obtaining second information on the target.According to an example, the second information may include informationon the distance to the target, the speed of the target, the angle of thetarget based on the traveling path of the vehicle, or the holding timeof the target. The method of processing the radar signal is not limitedto any specific method, as long as the second information can beobtained based on the radar signal.

The controller 130 may continue to obtain the first information based onthe image and the second information based on the radar signal for thesame target. According to an example, the first information and thesecond information may be synchronized with each other to then beobtained in frame units. The controller 130 may compare the firstinformation with the second information, which are obtained insynchronization with each other, to determine whether or not the firstinformation matches the second information.

Since the first information and the second information are obtained forthe same target, the first information and the second information may besubstantially the same when the camera 110 and the radar sensor 120 arein normal operation. Here, that “the first information and the secondinformation are substantially the same” means that the first informationand the second information have the same value within a predeterminederror range. Accordingly, if the second information is out of thepredetermined error range with respect to the first information, thecontroller 130 may determine that the radar sensor 120 ismalfunctioning.

For example, when the transmission or reception antenna of the radarsensor 120 is covered with foreign matter, such as snow accumulatingaround the same, the performance of the radar sensor 120 may graduallydeteriorate, so that the accuracy of the second information on thetarget will be lowered. In addition, when the radar sensor 120 becomesmisaligned due to an impact applied to the vehicle or the like, it maybe determined that the detected direction is different from the actualdirection so that the accuracy of the second information on the targetmay be lowered. In this case, an error between the first information andthe second information will increase.

Accordingly, if the error exceeds a predetermined reference value, thecontroller 130 may detect that the radar sensor 120 is not operatingnormally. In this case, the controller 130 may output an alarmindicating malfunction of the radar sensor 120.

According to the above description, it is possible to more quickly andaccurately detect malfunction of the radar sensor using errorinformation calculated by comparing target information based on an imageobtained by the camera with target information based on the radarsignal.

An apparatus 100 for complementing automotive radar according to thepresent disclosure may include an image sensor disposed in a vehicle soas to have a field of view of the exterior of the vehicle and configuredto capture image data, a radar sensor disposed in the vehicle so as tohave a field of sensing for the exterior of the vehicle and configuredto capture sensing data, and a domain control unit (DCU) configured toprocess the image data captured by the image sensor and the sensing datacaptured by the radar sensor and configured to control at least onedriver assistance system provided in the vehicle.

According to an example, the processor for processing the image data,the controller, and the controllers of various devices provided in thevehicle may be integrated into a single domain control unit. In thiscase, the domain control unit may generate various vehicle controlsignals to control the driver assistance system provided in the vehicleand various devices of the vehicle associated therewith.

The domain control unit, based at least in part on the processing of theimage data and the sensing data, may obtain first information on atarget from an image obtained based on the processing of the image data,may set a monitoring range of the radar sensor according to the obtainedfirst information, may obtain second information on the target based onthe radar signal detected in the monitoring range, and may determinewhether or not the first information matches the second information,thereby detecting a malfunction of the radar sensor. To this end, thedomain control unit may include at least one processor.

The domain control unit may be provided in the vehicle, and maycommunicate with one or more image sensors and one or more non-imagesensors, which are mounted in the vehicle. To this end, an appropriatedata link or communication link, such as a vehicle network bus, for datatransmission or signal communication may be further included.

The domain control unit may operate to control one or more of variousdriver assistance systems (DAS) used in the vehicle. The domain controlunit may control a driver assistance system (DAS), such as a blind spotdetection (BSD) system, an adaptive cruise control (ACC) system, a lanedeparture warning system (LDWS), a lane keeping assistance system(LKAS), a lane change assistance system (LCAS), and the like, based onthe sensing data captured by a plurality of non-image sensors and theimage data captured by the image sensor.

The domain control unit, based on the image of a field of view obtainedthrough the camera 110, may set a preceding vehicle as a target. If theobtained image contains a plurality of preceding vehicles, the targetmay be set according to a predetermined condition. For example, apreceding vehicle closest in distance to the vehicle may be set as atarget. However, the present disclosure is not limited to theabove-mentioned configuration, which is only an example, and the settingcondition of the target may vary as necessary.

The domain control unit may obtain first information on the targetthrough image processing of the obtained image. According to an example,the first information may include information on the distance to thetarget, the speed of the target, the angle of the target based on thetraveling path of the vehicle, or the holding time of the target. Theimage processing method is not limited to any specific method, as longas the first information can be acquired from the image obtained throughthe camera 110.

According to the first information obtained with respect to the target,the domain control unit may set a monitoring range for detecting atarget in the field of sensing of the radar sensor 120. To this end, thedomain control unit may match position information of the target in theimage with position information in the field of sensing of the radarsensor. The domain control unit may set a monitoring range according tothe position information on the target in the field of sensing of theradar sensor.

The domain control unit may process the radar signal detected in the setmonitoring range, thereby obtaining second information on the target.According to an example, the second information may include informationon the distance to the target, the speed of the target, the angle of thetarget based on the traveling path of the vehicle, or the holding timeof the target. The method of processing a radar signal is not limited toany specific method, as long as the second information can be obtainedbased on the radar signal.

The domain control unit may continue to obtain the first informationbased on the image and the second information based on the radar signalfor the same target. According to an example, the first information andthe second information may be synchronized with each other to then beobtained in frame units. The domain control unit may determine whetheror not the first information matches the second information, which areobtained in synchronization with each other, by comparing the same.

Since the first information and the second information are obtained forthe same target, the first information and the second information may besubstantially the same when the camera 110 and the radar sensor 120 arein normal operation. Here, that “the first information and the secondinformation are substantially the same” means that the first informationand the second information have the same value within a predeterminederror range. Accordingly, if the second information is out of thepredetermined error range with respect to the first information, thedomain control unit may determine that the radar sensor 120 ismalfunctioning.

For example, when the transmission or reception antenna of the radarsensor 120 is covered with foreign matter, such as snow accumulatingaround the same, the performance of the radar sensor 120 may graduallydeteriorate, so that the accuracy of the second information on thetarget may be lowered. In addition, when the radar sensor 120 becomesmisaligned due to an impact applied to the vehicle or the like, it maybe determined that the detected direction is different from the actualdirection so that the accuracy of the second information on the targetmay be lowered. In this case, an error between the first information andthe second information will increase.

Accordingly, if the error exceeds a predetermined reference value, thedomain control unit may detect that the radar sensor 120 is not in thenormal state. In this case, the domain control unit may output an alarmindicating malfunction of the radar sensor 120.

According to the above description, it is possible to more quickly andaccurately detect malfunction of the radar sensor using errorinformation calculated by comparing target information based on an imageobtained by the camera with target information based on the radarsignal.

Hereinafter, the operation of an apparatus for complementing automotiveradar will be described in more detail with reference to the relateddrawings. The following description will be made with reference to thecontroller 130, but the present disclosure is not limited thereto. Thefollowing description of the operation of the controller 130 may beperformed in substantially the same manner by the domain control unit,except for what cannot be applied thereto.

FIGS. 2 to 4 are views explaining detection of malfunction of a radarsensor using a target sensed by a camera and a radar sensor according tothe present disclosure. FIG. 5 is a block diagram of an apparatus forcomplementing automotive radar according to an embodiment of the presentdisclosure.

Various sensors including a camera 110 and a radar sensor 120 are drivenfor various driver assistance systems mounted on the vehicle 1 duringdriving of the vehicle 1. FIG. 2 shows an example of a field of view 10in which an image is captured by the camera 110 and a field 20 ofsensing of the radar sensor 120.

The controller 130 may process an image obtained through the camera 110,thereby determining whether or not a target exists in the image.Referring to FIG. 2, the captured preceding vehicle 2 is illustrated asa target. The camera 110 may recognize the rear 13 of the vehicle, sothat the rear of the vehicle may be set as a target. In addition,referring to FIG. 3, when the preceding vehicle 2 is travelling in thelane next to the vehicle, the rear 13 of the vehicle may be set as atarget.

The controller 130 may obtain the distance, speed, and angle of thetarget as first information on the set target. According to an example,the controller 130 may obtain first information using the position,movement, etc. of the target in successive frames. However, this is onlyan example, and the method for obtaining the first information from theimage captured by the camera 110 is not limited to any specific method.

The controller 130 may set a monitoring range 21 for detecting a targetin the field 20 of sensing of the radar sensor 120 using the distance,speed, and angle information on the target. To this end, information formatching coordinate information in the image obtained through the camera110 with coordinate information in the field of sensing through theradar sensor 120 may be pre-stored in the memory 150 shown in FIG. 5.The controller 130 may convert coordinate information on the target inthe image to coordinates in the field of sensing of the radar sensoraccording to the first information.

Based on the position of the target 13 according to the convertedcoordinate relationship, the controller 130, as shown in FIG. 2, may setthe monitoring range 21 on the basis of the center of the rear 13 of thevehicle in the field 20 of sensing of the radar sensor. When thepreceding vehicle 2 is in the lane next to the vehicle and the rear 13of the preceding vehicle 2 is far from the front center, as shown inFIG. 3, the controller 130 may set the monitoring range 21 based on thecenter of the side of the preceding vehicle 2.

The controller 130 may determine whether or not a target exists in theset monitoring range 21. The controller 130 may process a radar signalreceived in the set monitoring range 21, thereby detecting the target.As shown in FIG. 2, the radar sensor 120 may recognize the edge of thevehicle, thereby detecting the edge 23 of the vehicle as a target. Asshown in FIG. 3, when the rear 13 of the vehicle is far from the frontcenter, the edges 23 and 25 of the vehicle may be detected as targets.

The controller 130 may process a radar signal to obtain the distance,speed, and angle of the target as second information on the set target.According to an example, the controller 130 may obtain the secondinformation using the position, movement, etc. of the target insuccessive frames. However, this is only an example, and the method forobtaining the second information from the image captured by the radarsensor 120 is not limited to any specific method.

The controller 130 may compare the first information with the secondinformation, thereby determining whether or not the error between thefirst information and the second information exceeds a predeterminedreference value. According to an example, the controller 130 maycalculate a measurement offset for detecting the target within themonitoring range 21, and may reflect the measurement offset in thecomparison of the first and second information. In addition, thethreshold of the measurement offset may vary depending on the monitoringranges.

If the error between the first information and the second informationexceeds a predetermined reference value, the controller 130 maydetermine that the detection of the target by the camera 110 does notmatch the detection of the target by the radar sensor 120, and may countthe number of mismatches. Information on the number of mismatches may bestored in the memory 150, and may be updated by the controller 130.

If the number of mismatches exceeds a predetermined reference value, thecontroller 130 may determine that the radar sensor 120 is in theblockage state. For example, when the transmission or reception antennaof the radar sensor 120 is covered with foreign matter, such as snowaccumulating around the same, the performance of the radar sensor 120may gradually deteriorate, so that the accuracy of the secondinformation on the target may be lowered. That is, if snow graduallyaccumulates over time, the first information and the second informationare continuously determined to be in the mismatched state according tothe inaccuracy of the second information, so that the number ofmismatches will increase. Accordingly, when the number of mismatchesreaches a specific number, the controller 130 may determine that theradar sensor 120 is in the blockage state, and may output an alarmthereon.

According to an example, an output device 140 shown in FIG. 5 mayinclude at least one of a display, a speaker, or a haptic module. Theoutput device 140 may output a visual alarm through the display, mayoutput an audible alarm through a speaker, or may output a tactile alarmthrough the haptic module, thereby indicating the blockage state of theradar sensor 120.

If the error between the first information and the second information isless than the predetermined reference value, the controller 130 maydetermine that the detection of the target by the camera 110 matches thedetection of the target by the radar sensor 120, and may count thenumber of matches. Information on the number of matches may be stored inthe memory 150, and may be updated by the controller 130.

When the number of matches exceeds a predetermined reference value, thecontroller 130 may identify whether or not the radar sensor 120 isdetermined to be in the blockage state. That is, in the above-describedexample, when snow gradually melts with over time, the accuracy of thesecond information increases. Therefore, the first information and thesecond information are continuously determined to match each other, sothat the number of matches will increase. Accordingly, when the numberof matches reaches a predetermined number, the controller 130 maydetermine that the radar sensor 120 has been released from the blockagestate, and may terminate the alarm.

According to an example, when comparing the first information with thesecond information, the controller 130 may further reflect informationsensed by other sensors 160 mounted on the vehicle or informationreceived through the transceiver 170, as shown in FIG. 5. That is, theabove-mentioned measurement offset value and the setting ofpredetermined reference values may be adjusted using temperatureinformation or weather information outside the vehicle. For example,when the snowfall information is obtained, it is possible to make anadjustment such that the alarm for the deterioration of the radar sensor120 can be provided more quickly by further lowering the reference valuefor the number of mismatches.

According to this, it is possible to more quickly and accurately detectwhether or not the radar is blocked using error information calculatedby comparing target information based on an image obtained by the camerawith target information based on the radar signal.

As described above, the detection of the blockage of the radar sensor120 has been described as an embodiment of the present disclosure.Hereinafter, detection of misalignment of the radar sensor 120 will bedescribed as an example of malfunction of the radar sensor 120,according to another embodiment of the present disclosure.

Referring to FIG. 4, it is assumed that the radar sensor 120 ismisaligned rightwards by an angle of θ, which is an example ofmalfunction of the radar sensor 120. The controller 130 may process theimage obtained through the camera 110, thereby determining whether ornot a target exists in the image. FIG. 4 shows that the precedingvehicle 2 is captured as a target. The camera 110 may recognize the rear13 of the vehicle, and may set the same as a target.

The controller 130 may obtain the distance, speed, and angle of thetarget as first information on the set target, and may set a monitoringrange 21 for detecting the target in the field 20 of sensing of theradar sensor 120. Based on the position of the target according to thefirst information, the controller 130 may set the monitoring range 21 onthe basis of the center of the rear 13 of the vehicle in the field 20 ofsensing of the radar sensor. However, since the radar sensor 120 ismisaligned rightwards by an angle of θ, the monitoring range 21 is setto be shifted to the right, compared with the state in which the radarsensor 120 is normally aligned as shown in FIG. 2.

The controller 130 may determine whether or not a target exists in theset monitoring range 21. The controller 130 may process a radar signalreceived in the set monitoring range 21, thereby detecting a target. Asshown in FIG. 4, the radar sensor 120 may recognize the edge 23 of thevehicle, thereby detecting the edge 23 of the vehicle as the target.That is, compared with the state in which the radar sensor 120 is innormal alignment as shown in FIG. 2, the edge 23 of the vehicle may bedetected as if the preceding vehicle 2 were shifted by an angle of θ,rather than the actual position thereof.

The controller 130 may process the radar signal to obtain the distance,speed, and angle of the target as second information on the set target.According to an example, the controller 130 may further perform aprocess of determining whether or not the target 13 by the camera 110and the target 23 by the radar sensor 120 are the same target.

If the target 13 by the camera 110 and the target 23 by the radar sensor120 are not the same, or if no target 23 is detected by the radar sensor120, the controller 130 may determine that the misalignment of the radarsensor 120 cannot be detected. In this case, the controller 130 mayoutput a separate alarm indicating the same through the output device140.

The controller 130 may compare the first information with the secondinformation to determine whether or not an error between the firstinformation and the second information exceeds a predetermined referencevalue. According to an example, the controller 130 may calculate ameasurement offset in detecting the target within the monitoring range21, and may reflect the measurement offset in the comparison of thefirst and second information. In addition, the threshold of themeasurement offset may vary depending on the monitoring ranges.

If the error between the first information and the second informationexceeds a predetermined reference value, the controller 130 maydetermine that the radar sensor 120 is misaligned. According to anexample, the predetermined reference value may be set to be differentfrom the criterion for detecting the blockage of the radar sensor 120.For example, since the misalignment of the radar sensor 120 mainlycauses an error in the angle information on the target, the misalignmentdetermination may be made by giving weight to the error in the angle ofthe target.

If it is determined that the radar sensor 120 is in the misalignedstate, the controller 130 may output an alarm for the same. According toan example, the output device 140 may output a visual alarm through adisplay, may output an audible alarm through a speaker, or may output atactile alarm through a haptic module, thereby indicating themisalignment of the radar sensor 120.

If the error between the first information and the second information isless than the predetermined reference value, the controller 130 maydetermine that the detection of the target by the camera 110 matches thedetection of the target by the radar sensor 120. Since the misalignmentof the radar sensor 120 has not been detected, the controller 130 maydetermine that the radar sensor 120 is aligned normally.

According to the present disclosure, it is possible to more quickly andaccurately detect whether or not the radar sensor is misaligned usingerror information calculated by comparing target information based on animage obtained by the camera with target information based on the radarsignal.

The method for complementing automotive radar according to the presentdisclosure may be implemented by the apparatus 100 for complementingautomotive radar described above. Hereinafter, a method forcomplementing automotive radar according to the present disclosure andan apparatus 100 for complementing automotive radar for implementing thesame will be described in detail with reference to the necessarydrawings.

FIG. 6 is a flowchart for a method for complementing automotive radaraccording to the present disclosure.

Referring to FIG. 6, an apparatus for complementing automotive radar mayobtain an image of a field of view by using camera, thereby obtainingfirst information on a target (S110).

The camera in the apparatus for complementing automotive radar may bemounted on the front of the vehicle, and may obtain an image of a fieldof view in front of the vehicle in frame units. A controller of theapparatus for complementing automotive radar, based on the image of thefield of view, which has been obtained through the camera, may set apreceding vehicle as a target.

The controller may obtain first information on the target throughprocessing of the obtained image. According to an example, the firstinformation may include information on the distance to the target, thespeed of the target, the angle of the target based on the traveling pathof the vehicle, or the holding time of the target.

Referring back to FIG. 6, the apparatus for complementing automotiveradar may set a monitoring range of the radar sensor according to thefirst information (S120).

The radar sensor of the apparatus for complementing automotive radar maytransmit a radar signal, may detect the transmitted radar signalreflected by an object, and may provide information such as a distanceto the object around the vehicle in frame units.

The controller of the apparatus for complementing automotive radar mayset a monitoring range for detecting a target in the field of sensing ofthe radar sensor according to the first information obtained withrespect to the target. To this end, the controller may match positioninformation on the target in the image with position information in thefield of sensing of the radar sensor. The controller may set amonitoring range according to the position information on the target inthe field of sensing of the radar sensor.

Referring back to FIG. 6, the apparatus for complementing automotiveradar, based on the radar signal detected in the monitoring range, mayobtain second information on the target (S130).

The controller of the apparatus for complementing automotive radar mayprocess the radar signal detected in the set monitoring range, therebyobtaining the second information on the target. According to an example,the second information may include information on the distance to thetarget, the speed of the target, the angle of the target based on thetraveling path of the vehicle, or the holding time of the target.

Referring back to FIG. 6, the apparatus for complementing automotiveradar may determine whether or not the first information matches thesecond information, thereby detecting malfunction of the radar sensor(S140).

The controller of the apparatus for complementing automotive radar maycontinue to obtain the first information based on the image and thesecond information based on the radar signal for the same target.According to an example, the first information and the secondinformation may be synchronized with each other to then be obtained inframe units. The controller may determine whether or not the firstinformation matches the second information, which are obtained insynchronization with each other, by comparing the same with each other.

If the second information is not within a predetermined error rangebased on the first information, the controller may determine that theradar sensor malfunctions. For example, when the transmission orreception antenna of the radar sensor 120 is covered with foreignmatter, such as snow accumulating around the same, the performance ofthe radar sensor 120 may gradually deteriorate, so that the accuracy ofthe second information on the target may be lowered. In addition, whenthe radar sensor is misaligned due to an impact on the vehicle or thelike, it may be determined that the detected direction is different fromthe actual direction so that the accuracy of the second information onthe target may be lowered. In this case, the error between the firstinformation and the second information will increase.

Accordingly, if the error exceeds a predetermined reference value, thecontroller may detect that the radar sensor is not in the normal state.In this case, the controller may output an alarm indicating malfunctionof the radar sensor.

According to this, it is possible to more quickly and accurately detectmalfunction of the radar sensor by detecting whether or not the radarsensor malfunctions using error information calculated by comparingtarget information based on an image obtained by the camera with targetinformation based on the radar signal.

Hereinafter, a method for complementing automotive radar will bedescribed in more detail with reference to the related drawings.

FIG. 7 is a flowchart explaining a method for detecting blockage of aradar sensor according to the present disclosure. FIG. 8 is a flowchartexplaining a method for detecting misalignment of a radar sensoraccording to the present disclosure. FIG. 9 is a flowchart explaining amethod of outputting an alarm indicating malfunction of a radar sensoraccording to the present disclosure.

Referring to FIG. 7, a camera and a radar sensor may be operated forvarious driver assistance systems during driving of the vehicle (S210).The controller of the apparatus for complementing automotive radar mayprocess an image obtained by the camera, thereby determining whether ornot a target exists in the image (S215). If no target exists in theimage (No in S215), the controller may determine whether or not a targetexists in the next frame obtained by the camera.

If a target exists in the image (Yes in S215), the controller may obtainthe distance, speed, and angle of the target as first information on theset target (S220). According to an example, the controller may obtainthe first information using the position, movement, etc. of the targetin successive frames.

The controller may set a monitoring range for detecting the target in afield of sensing of the radar sensor using the distance, speed, andangle information on the target (S225). To this end, information formatching the coordinate information in the image obtained through thecamera with the coordinate information in the field of sensing throughthe radar sensor may be pre-stored in the memory. The controller mayconvert the coordinate information on the target in the image to thecoordinates in the field of sensing of the radar sensor according to thefirst information.

The controller may determine whether or not a target exists in the setmonitoring range (S230). The controller may process a radar signalreceived in the set monitoring range, thereby detecting a target. Ifthere is a target within the monitoring range (Yes in S230), thecontroller may process the radar signal to obtain the distance, speed,and angle of the target as second information on the set target (S235).According to an example, the controller may obtain the secondinformation using the position, movement, etc. of the target insuccessive frames.

The controller may compare the first information with the secondinformation to determine whether or not an error between the firstinformation and the second information exceeds a predetermined referencevalue (S240). According to an example, the controller may calculate ameasurement offset when detecting the target within the monitoringrange, and may reflect the measurement offset in the comparison of thefirst information and the second information. In addition, the thresholdof the measurement offset may vary depending on the monitoring ranges.

If the error between the first information and the second informationexceeds a predetermined reference value (Yes in S240), the controllermay determine that the detection of the target by the camera does notmatch the detection of the target by the radar sensor, and may count thenumber of mismatches (S245). Information on the number of mismatches maybe stored in the memory 150, and may be updated by the controller 130.

In the above-mentioned step S230, even if no target exists within themonitoring range (No in S230), the controller may determine that thedetection of the target by the camera does not match the detection ofthe target by the radar sensor, and may count the number of mismatches.

After updating the number of mismatches, the controller may determinewhether or not the number of mismatches exceeds a predeterminedreference value (S250). If the number of mismatches exceeds thepredetermined reference value (Yes in S250), the controller maydetermine that the radar sensor is in the blockage state (S255). Forexample, when the transmission or reception antenna of the radar sensoris covered with foreign matter, such as snow accumulating around thesame, the performance of the radar sensor may gradually deteriorate, sothat the accuracy of the second information on the target may belowered. That is, if snow gradually accumulates over time, the firstinformation and the second information are continuously determined to bein the mismatched state according to the inaccuracy of the secondinformation, so that the number of mismatches will increase.Accordingly, when the number of mismatches reaches a specific number,the controller may determine that the radar sensor is in the blockagestate, and may output an alarm thereon.

If the number of mismatches is equal to or less than the predeterminedreference value (No in S250), the controller may return to step S215 tothen repeat the above-described operations. The predetermined referencevalue to be compared with the number of mismatches may vary asnecessary. As the predetermined reference value is set to be smaller,the apparatus for complementing automotive radar may respond moresensitively to the blockage of the radar sensor.

Returning to step S240, if the error between the first information andthe second information is less than the predetermined reference value,the controller may determine that the detection of the target by thecamera matches the detection of the target by the radar sensor, and maycount the number of matches (S260). Information on the number of matchesmay be stored in the memory, and may be updated by the controller.

The controller may determine whether or not the number of matchesexceeds a predetermined reference value (S265). If the number of matchesis equal to or less than a predetermined reference value (No in S265),the controller may return to step S215 to then repeat theabove-described operations. The predetermined reference value to becompared with the number of matches may be varied as necessary. As thepredetermined reference value is set to be smaller, the apparatus forcomplementing automotive radar may respond more sensitively to therelease of the blockage of the radar sensor.

If the number of matches exceeds the predetermined reference value (Yesin S265), the controller may identify whether or not the radar sensor isdetermined to be in the blockage state (S270). That is, in theabove-described example, when snow gradually melts over time, theaccuracy of the second information increases. Therefore, the firstinformation and the second information are continuously determined tomatch each other, so that the number of matches will increase.Accordingly, when the radar sensor is in the blockage state (Yes inS270), if the number of matches reaches a predetermined number, thecontroller may determine that the radar sensor has been released fromthe blockage state (S275). If the radar sensor is not currently in theblockage state (No in S270), the controller may return to step S215 torepeat the above-described operations.

According to this, it is possible to more quickly and accurately detectwhether or not the radar sensor is blocked using error informationcalculated by comparing the target information based on the imageobtained by the camera with target information based on the radarsignal.

As described above, the detection of the blockage of the radar sensorhas been described as an embodiment of the present disclosure.Hereinafter, detection of misalignment of the radar sensor will bedescribed as an example of malfunction of the radar sensor, according toanother embodiment of the present disclosure.

Referring to FIG. 8, since steps S310 to S325 are substantially the sameas steps S210 to S225 described in FIG. 7, a redundant description willbe omitted. In addition, it is assumed that the radar sensor ismisaligned rightwards by an angle of θ, as an example of malfunction ofthe radar sensor.

Referring back to FIG. 8, the controller of the apparatus forcomplementing automotive radar, based on the position of the targetaccording to the first information, may set a monitoring range in afield of sensing of the radar sensor (S325). However, since the radarsensor is misaligned rightwards by an angle of θ, the monitoring rangeis set to be shifted to the right, compared with the state in which theradar sensor is in normal alignment.

The controller may determine whether or not a target exists in the setmonitoring range (S330). The controller may process a radar signalreceived in the set monitoring range, thereby detecting a target. Inthis case, compared with the state in which the radar sensor is innormal alignment, the target may be detected as if it were shifted by anangle of θ from the actual position thereof.

If the target exists in the monitoring range (Yes in S330), thecontroller may process the radar signal, thereby obtaining the distance,speed, and angle of the target as second information on the set target(S335). According to an example, the controller may further perform aprocess of determining whether or not the target obtained by the cameraand the target obtained by the radar sensor are the same target. If thetarget obtained by the camera and the target obtained by the radarsensor are not the same, or if the target obtained by the radar sensoris not detected (No in S330), the controller may determine that themisalignment of the radar sensor cannot be detected (S350). In thiscase, the controller may output a separate alarm indicating the samethrough an output device.

The controller may compare the first information with the secondinformation to determine whether or not an error between the firstinformation and the second information exceeds a predetermined referencevalue (S340). According to an example, the controller may calculate ameasurement offset in detecting the target within the monitoring range,and may reflect the measurement offset in the comparison of the firstand second information. In addition, the threshold of the measurementoffset may vary depending on the monitoring ranges.

If the error between the first information and the second informationexceeds a predetermined reference value (Yes in S340), the controllermay determine that the radar sensor is misaligned. According to anexample, the predetermined reference value may be set to be differentfrom the criterion for detecting the blockage of the radar sensor. Forexample, since the misalignment of the radar sensor mainly causes anerror in the angle information on the target, the misalignmentdetermination may be made by giving weight to the error in the angle ofthe target.

If the error between the first information and the second information isless than the predetermined reference value (No in S340), the controllermay determine that the detection of the target by the camera matches thedetection of the target by the radar sensor. That is, since themisalignment of the radar sensor has not been detected (S350), thecontroller may determine that the radar sensor is in normal alignment.

According to the present disclosure, it is possible to more quickly andaccurately detect whether or not the radar sensor is misaligned usingerror information calculated by comparing target information based on animage obtained by the camera with target information based on the radarsignal.

The method in which an apparatus for complementing automotive radardetects malfunction of the radar sensor, such as the blockage state ormisalignment thereof, has been described above. Hereinafter, a method inwhich an apparatus for complementing automotive radar outputs an alarmindicating the detected malfunction of the radar sensor will bedescribed.

Referring to FIG. 9, since steps S410 to S440 are substantially the sameas steps S110 to S140 described in FIG. 6, a redundant descriptionthereof will be omitted.

The apparatus for complementing automotive radar may output an alarmindicating the detected malfunction of the radar sensor through anoutput device (S450).

According to an example, an output device included in the apparatus forcomplementing automotive radar may include at least one of a display, aspeaker, or a haptic module. The output device may output a visual alarmthrough the display, may output an audible alarm through the speaker, ormay output a tactile alarm through the haptic module, thereby providingnotification of the blockage of the radar sensor.

In addition, the output device may output a visual alarm through thedisplay, may output an audible alarm through the speaker, or may outputa tactile alarm through the haptic module, thereby providingnotification of the misaligned state of the radar sensor.

According to the present disclosure, it is possible to promptly notifythe driver of information on the malfunction of the radar sensor byoutputting an alarm for the detected blockage or misalignment of thedetected radar sensor by comparing the target information based on theimage obtained by the camera with the target information based on theradar signal.

The above-described disclosure may be implemented as computer-readablecode on a medium on which a program is recorded. The computer-readablemedium includes all kinds of recording devices in which data that can beread by a computer system is stored. For example, the computer-readablemedium includes a hard disk drive (HDD), a solid state disk (SSD), asilicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, afloppy disk, and an optical data storage device. In addition, thecomputer-readable medium may be implemented in the form of a carrierwave (e.g., transmission over the Internet).

The above description and the accompanying drawings provide an exampleof the technical idea of the present disclosure for illustrativepurposes only. Those having ordinary knowledge in the technical field,to which the present disclosure pertains, will appreciate that variousmodifications and changes in form, such as combination, separation,substitution, and change of a configuration, are possible withoutdeparting from the essential features of the present disclosure.Therefore, the embodiments disclosed in the present disclosure areintended to illustrate the scope of the technical idea of the presentdisclosure, and the scope of the present disclosure is not limited bythe embodiment. That is, at least two elements of all structuralelements may be selectively joined and operate without departing fromthe scope of the present disclosure. The scope of the present disclosureshall be construed on the basis of the accompanying claims in such amanner that all of the technical ideas included within the scopeequivalent to the claims belong to the present disclosure.

What is claimed is:
 1. An apparatus for complementing automotive radar,the apparatus comprising: an image sensor operable to be disposed in avehicle so as to have a field of view of the exterior of the vehicle,the image sensor configured to capture image data; a radar sensoroperable to be disposed in the vehicle so as to have a field of sensingfor the exterior of the vehicle, the radar sensor configured to capturesensing data; at least one processor configured to process the imagedata captured by the image sensor and the sensing data captured by theradar sensor; and a controller configured to detect malfunction of theradar sensor, based at least in part on processing of the image data andthe sensing data, wherein the controller is configured to: obtain firstinformation on a target from an image obtained based on the processingof the image data; set a monitoring range of the radar sensor accordingto the obtained first information; obtain second information on thetarget based on a radar signal detected in the monitoring range; anddetect malfunction of the radar sensor by determining whether or not thefirst information matches the second information.
 2. The apparatus ofclaim 1, wherein the first information comprises a distance, a speed,and an angle of the target obtained based on the image, and wherein thesecond information comprises a distance, a speed, and an angle of thetarget obtained based on the radar signal detected in the monitoringrange.
 3. The apparatus of claim 1, wherein the controller counts anumber of mismatches when an error between the first information and thesecond information exceeds a predetermined reference value.
 4. Theapparatus of claim 3, wherein the controller determines that the radarsensor is in a blockage state when the number of mismatches exceeds thepredetermined reference value.
 5. The apparatus of claim 1, wherein thecontroller counts a number of matches when an error between the firstinformation and the second information is less than a predeterminedreference value.
 6. The apparatus of claim 5, wherein if the number ofmatches exceeds the predetermined reference value when the radar sensoris in a blockage state, the controller determines that the blockagestate of the radar sensor has been released.
 7. The apparatus of claim1, wherein the controller detects misalignment of the radar sensor basedon an error of the second information with respect to the firstinformation.
 8. The apparatus of claim 1, further comprising an outputdevice configured to comprise at least one of a display, a speaker, or ahaptic module, wherein the controller outputs an alarm indicatingmalfunction of the radar sensor through the output device.
 9. Anapparatus for complementing automotive radar, the apparatus comprising:an image sensor operable to be disposed in a vehicle so as to have afield of view of the exterior of the vehicle, the image sensorconfigured to capture image data; a radar sensor operable to be disposedin the vehicle so as to have a field of sensing of the exterior of thevehicle, the radar sensor configured to capture sensing data; and adomain control unit configured to process the image data captured by theimage sensor and the sensing data captured by the radar sensor, andconfigured to control at least one driver assistance system provided inthe vehicle, wherein the domain control unit is configured to: based atleast in part on processing of the image data and the sensing data,obtain first information on a target from an image obtained based on theprocessing of the image data; set a monitoring range of the radar sensoraccording to the obtained first information; obtain second informationon the target based on a radar signal detected in the monitoring range;and detect malfunction of the radar sensor by determining whether or notthe first information matches the second information.
 10. The apparatusof claim 9, wherein the first information comprises a distance, a speed,and an angle of the target obtained based on the image, and wherein thesecond information comprises a distance, a speed, and an angle of thetarget obtained based on the radar signal detected in the monitoringrange.
 11. The apparatus of claim 9, wherein the domain control unitcounts a number of mismatches when an error between the firstinformation and the second information exceeds a predetermined referencevalue.
 12. The apparatus of claim 11, wherein the domain control unitdetermines that the radar sensor is in a blockage state when the numberof mismatches exceeds a predetermined reference value.
 13. The apparatusof claim 9, wherein the domain control unit counts a number of matcheswhen an error between the first information and the second informationis less than the predetermined reference value.
 14. The apparatus ofclaim 13, wherein if the number of matches exceeds a predeterminedreference value when the radar sensor is in a blockage state, the domaincontrol unit determines that the blockage state of the radar sensor hasbeen released.
 15. The apparatus of claim 9, the domain control unitdetects misalignment of the radar sensor based on an error of the secondinformation with respect to the first information.
 16. The apparatus ofclaim 9, further comprising an output device configured to comprise atleast one of a display, a speaker, or a haptic module, wherein thedomain control unit outputs an alarm indicating malfunction of the radarsensor through the output device.
 17. An image sensor operable to bedisposed in a vehicle so as to have a field of view of an exterior ofthe vehicle, the image sensor configured to capture image data, whereinthe image data is processed by a processor and is used to obtain firstinformation on a target and is used to set a monitoring range of a radarsensor according to the obtained first information, and whereinmonitoring range information is used to obtain second information on thetarget based on a radar signal detected in the monitoring range and isused to detect malfunction of the radar sensor by determining whether ornot the first information matches the second information.
 18. A methodfor complementing automotive radar, the method comprising: obtaining animage of a field of view through a camera to obtain first information ona target; setting a monitoring range of a radar sensor according to thefirst information; obtaining second information on the target based on aradar signal detected in the monitoring range; and detecting malfunctionof the radar sensor by determining whether or not the first informationmatches the second information.